CN110374345A - A kind of spray robot - Google Patents
A kind of spray robot Download PDFInfo
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- CN110374345A CN110374345A CN201910689073.9A CN201910689073A CN110374345A CN 110374345 A CN110374345 A CN 110374345A CN 201910689073 A CN201910689073 A CN 201910689073A CN 110374345 A CN110374345 A CN 110374345A
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- spray
- water tank
- conserved
- temperature
- control system
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/24—Safety or protective measures preventing damage to building parts or finishing work during construction
- E04G21/246—Safety or protective measures preventing damage to building parts or finishing work during construction specially adapted for curing concrete in situ, e.g. by covering it with protective sheets
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention provides a kind of spray robot, comprising: mobile chassis, water tank assembly, spray system assembly, temperature-humidity detecting device and control system；Water tank assembly and control system are arranged side by side at the top of mobile chassis；Spray system assembly is connected to mobile chassis, water tank assembly and control system respectively, is set to the side of water tank assembly relation control system；Temperature-humidity detecting device is set to the top of control system, detects the temperature and humidity of metope to be conserved；BIM map of the control system based on preset building to be conserved, control mobile chassis is moved to maintenance point, maintenance metope is treated according to the temperature and humidity of metope to be conserved control spray system assembly to be sprayed, and records the curing time, water spray and temperature and humidity of metope to be conserved.In the present invention, it is that metope to be conserved is sprayed that spray robot, which is successively moved to maintenance point, records maintenance processes, does not need manually to be conserved and recorded maintenance processes, improves maintenance record accuracy and maintenance efficiency.
Description
Technical field
The present invention relates to automation robotics fields, and in particular to a kind of spray robot.
Background technique
With the development of society, building is built into daily relatively conventional one of construction project.For building construction
Speech, to guarantee that build guality and safety, the maintenance of concrete wall surface of building need to meet national standard.
For the concrete wall surface of building, need to carry out spray maintenance at regular time and quantity for concrete wall surface, to guarantee coagulation
The structural strength and quality in cob wall face.It is one by one usually mixed by man-hour manually hand-held water pipe at present for the maintenance of concrete wall surface
Solidifying cob wall face carries out spray maintenance.But the operation of nourishment's concrete wall surface is random larger, control can not conserve in real time
The maintenance record accuracy of journey and maintenance quality, concrete wall surface is lower.Simultaneously building concrete wall surface area it is big, manually by
One, which carries out spray maintenance for concrete wall surface, needs the long period, conserves low efficiency.
Therefore, take at present it is artificial one by one for concrete wall surface carry out spray maintenance there are maintenance record accuracy it is lower and
The problems such as conserving low efficiency.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of spray robot, with solve it is artificial one by one for concrete wall surface into
Row spray conserves the problems such as low efficiency with maintenance lower there are maintenance record accuracy.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
The embodiment of the present invention discloses a kind of spray robot, and the spray robot includes: that mobile chassis (1), water tank are total
At (2), spray system assembly (3), temperature-humidity detecting device (4) and control system (5)；
The water tank assembly (2) and the control system (5) are arranged side by side in the top of the mobile chassis (1)；
The spray system assembly (3) connects with the mobile chassis (1), water tank assembly (2) and control system (5) respectively
It is logical, it is set to the side of the relatively described control system (5) of the water tank assembly (2)；
The temperature-humidity detecting device (4) is set to the top of the control system (5), detects the temperature of metope to be conserved
And humidity；
The control system (5) controls the mobile chassis (1) for the BIM map based on preset building to be conserved
It is moved to maintenance point, the temperature and humidity of metope to be conserved is detected using the temperature-humidity detecting device (4), according to described wait support
The temperature and humidity in revetment face controls the spray system assembly (3) and sprays to the metope to be conserved, and described in record
Curing time, water spray and the temperature and humidity of metope to be conserved, wherein the BIM map marks the building to be conserved in advance
Each metope to be conserved.
Preferably, the mobile chassis (1) includes: mobile chassis shell, 4 universal wheels, 2 driving wheels, driving deceleration
Motor and obstacle avoidance sensor；
4 universal wheels are respectively arranged at the corner of bottom 4 of the mobile chassis shell, and 2 driving wheels are simultaneously
Row is set among the bottom of the mobile chassis shell, and the driving decelerating motor and obstacle avoidance sensor are set to the movement
In chassis housing.
Preferably, the water tank assembly (2)
It include: water tank (20), high liquid level drainpipe (21), tank lid (22), water filling port (23), floating liquid level inductor
(24), floating liquid level inductor (25), floating liquid level inductor (26) and water outlet (27)；
The water tank (20) is set to the side at the top of the mobile chassis (1), the tank lid (22) and water filling port
(23) it is respectively arranged at the top of the water tank (20), the water outlet (27) is set to the bottom of the water tank (20), described
Floating liquid level inductor (24), floating liquid level inductor (25) and floating liquid level inductor (26) are respectively arranged at the water tank
(20) one end of inside, the high liquid level drainpipe (21) is connected to the water tank (20), the high liquid level drainpipe (21)
The other end be set to outside the water tank (20) bottom.
Preferably, the spray system assembly (3) includes: spray equipment (30), spraying device (31), nozzle mounting base
(32), water pipe (33), spraying electromagnetic valve (34), spray solenoid valve (35), flowmeter (36) and water pump (37)；
The nozzle mounting base (32) be set to the exterior lateral sides of the water tank assembly (2) and with the water pipe (33) one
End connection, the spray equipment (30) and spraying device (31) are respectively arranged on the nozzle mounting base (32), the water pump
(37) it is set to the inside bottom of the control system (5) and is connected to the other end of the water pipe (33), the spray electromagnetism
Valve (34) and spray solenoid valve (35) are connect with flowmeter (36) respectively, the spraying electromagnetic valve (34), spray solenoid valve (35)
It is respectively arranged on the water pipe (33) with flowmeter (36).
Preferably, the temperature-humidity detecting device (4) includes: bracket (40), shell (41), humiture measurement mechanism (42)
With rotating electric machine (43)；
The bracket (40) is set to the outside top of the control system (5), the shell (41) and the bracket
(41) it connects, the humiture measurement mechanism (42) is set in the shell (41), the output shaft of the rotating electric machine (43)
It is connect with the bracket (40), the ontology of the rotating electric machine (43) is connect with the shell (41), the rotating electric machine (43)
Rotate the shell (41).
Preferably, the control system (5) includes: that inside bottom has the control cabinet (50) of battery sliding rail, controller electricity
Case (51), human-computer interaction device (52), control button group (53), device state indicator lamp (54) and battery (55)；
The battery (55) is set on the battery sliding rail of the control cabinet (50), and the controller electronic box (51) is set to
At the top of the battery (55), the human-computer interaction device (52), control button group (53) and device state indicator lamp (54) are respectively
It is set to the outer surface of the control cabinet (50).
Preferably, the humiture measurement mechanism (42) are as follows: infrared temperature and humidity measuring instrument.
Preferably, the spray equipment (30) includes: 4 rounded to be uniformly distributed on the nozzle mounting base (32)
Spray spout.
Preferably, spraying device (31) includes: 4 rounded to be uniformly distributed in being sprayed on the nozzle mounting base (32)
Nozzle.
Preferably, the nozzle mounting base (32) contains at least one water inlet.
A kind of spray robot provided based on the embodiments of the present invention, comprising: mobile chassis, water tank assembly, spray
System synthesis, temperature-humidity detecting device and control system；Water tank assembly and control system are arranged side by side at the top of mobile chassis；Spray
Leaching system synthesis is connected to mobile chassis, water tank assembly and control system respectively, is set to water tank assembly relation control system
Side；Temperature-humidity detecting device is set to the top of control system, detects the temperature and humidity of metope to be conserved；Control system base
It in the BIM map of preset building to be conserved, controls mobile chassis and is moved to maintenance point, according to the temperature of metope to be conserved and wet
Degree control spray system assembly is treated maintenance metope and is sprayed, and record the curing time of metope to be conserved, water spray and
Temperature and humidity.In the present invention, according to the BIM map of building to be conserved, being successively moved to maintenance point is wall to be conserved for spray robot
Face is sprayed, and maintenance processes are recorded, and does not need manually to be conserved and recorded maintenance processes, improve maintenance record accuracy and
Conserve efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram for spraying robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of water tank assembly provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of spray system assembly provided in an embodiment of the present invention；
Fig. 4 is the spray waterway structure schematic diagram of spray system assembly provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of temperature-humidity detecting device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of control system provided in an embodiment of the present invention；
Fig. 7 a is the side view of the spraying effect of spray robot provided in an embodiment of the present invention；
Fig. 7 b is the top view of the spraying effect of spray robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In this application, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion,
So that the process, method, article or equipment for including a series of elements not only includes those elements, but also including not having
The other element being expressly recited, or further include for elements inherent to such a process, method, article, or device.Do not having
There is the element limited in the case where more limiting by sentence "including a ...", it is not excluded that in the mistake including the element
There is also other identical elements in journey, method, article or equipment.
It can be seen from background technology that at present for the maintenance processes of the concrete wall surface of building, usually by man-hour manually hand-held water
Pipe carries out spray maintenance one by one for concrete wall surface.But the operation of nourishment's concrete wall surface is random larger, it can not be real-time
The maintenance record accuracy of control maintenance processes and maintenance quality, concrete wall surface is lower.The concrete wall surface face of building simultaneously
Product is big, manually carries out spray maintenance one by one for concrete wall surface and needs the long period, conserves low efficiency.
Therefore, the embodiment of the present invention provides a kind of spray robot, and spray robot is according to the BIM of building to be conserved
Figure, being successively moved to maintenance point is that metope to be conserved is sprayed, and records maintenance processes, does not need manually to be conserved and recorded
Maintenance processes, to improve maintenance record accuracy and maintenance efficiency.
The application scenarios for the spray robot being related in embodiments of the present invention are concrete wall surface maintenance.It needs to illustrate
It is that, for repairs profession, before for wall tiling, needing timing to carry out water spray for the metope to tiling makes metope keep wet
Profit, to guarantee that ceramic tile is preferably adhered in metope.Therefore, the application scenarios of the spray robot involved in the present invention can also
For the metope pre-wetted before wall tiling.
Similarly, for carry out spray pre-wetted application scenarios, the present embodiments relate to spray robot
It is applicable in, the application scenarios for spraying robot in embodiments of the present invention are not specifically limited.
Referring to Fig. 1, a kind of structural schematic diagram for spraying robot provided in an embodiment of the present invention, the spray thrower are shown
Device people includes: mobile chassis 1, water tank assembly 2, spray system assembly 3, temperature-humidity detecting device 4 and control system 5.
The water tank assembly 2 and the control system 5 are arranged side by side in the top of the mobile chassis 1.
In the concrete realization, it should be noted that when being conserved to the concrete wall surface in building, need a large amount of
Moisture.The water tank assembly 2 is used for water storage, provides moisture required for curing concrete metope for spray robot.The control
System 5 processed controls the mobile chassis 1 and is moved to maintenance point, and the concrete wall surface for maintenance point is conserved.
Preferably, the mobile chassis 1 includes: mobile chassis shell, 4 universal wheels, 2 driving wheels, driving deceleration electricity
Machine and obstacle avoidance sensor.4 universal wheels are respectively arranged at the corner of bottom 4 of the mobile chassis shell, 2 drives
Driving wheel is arranged side by side among the bottom of the mobile chassis shell, and the driving decelerating motor and obstacle avoidance sensor are set to institute
It states in mobile chassis shell.
Further, the mobile chassis 1 is the device with locomotive function, is included but are not limited to: homing guidance fortune
Defeated vehicle (Automated Guided Vehicle, AGV) chassis.
In further realize, the control system 5, for the Building Information Model based on preset building to be conserved
(Building Information Modeling, BIM) map, controls the mobile chassis 1 and is moved to maintenance point, utilize institute
The temperature and humidity that temperature-humidity detecting device 4 detects metope to be conserved is stated, according to the temperature and humidity control of the metope to be conserved
It makes the spray system assembly 3 to spray the metope to be conserved, and records the curing time of the metope to be conserved, spray
Water drenching amount and temperature and humidity, wherein the BIM map marks each metope to be conserved of the building to be conserved in advance.
The spray system assembly 3 is connected to the mobile chassis 1, water tank assembly 2 and control system 5 respectively, is set to
The side of the relatively described control system 5 of the water tank assembly 2.
In the concrete realization, the spray system assembly 3 respectively with the mobile chassis 1, water tank assembly 2 and control system
5 connections, when the spray robot is moved to maintenance point.The control system 5 controls the spraying assembly 3 from the water tank
2 withdrawing moisture of assembly, and control to be conserved metope spray of the spraying assembly 3 to the maintenance point.
The temperature-humidity detecting device 4 is set to the top of the control system 5, detects the temperature of metope to be conserved and wet
Degree.
In the concrete realization, the temperature-humidity detecting device 4 is set to the top of the control system 5.When the spray
When leaching robot is moved to maintenance point, the control system 5 controls the temperature that the temperature-humidity detecting device 4 detects metope to be conserved
Degree and humidity, by determination it is subsequent treat maintenance metope spray in a manner of and spray flow.
Preferably, the humiture measurement mechanism 42 is to include but are not limited to the device of detection temperature and humidity:
Infrared temperature and humidity measuring instrument.
In embodiments of the present invention, control system control mobile chassis is moved to the maintenance point of building to be conserved, and utilizes temperature
Humidity measuring instrument measures the temperature and humidity of metope to be conserved.Spray system assembly, which is controlled, according to temperature and humidity treats maintenance
Metope carries out spray maintenance work, and records temperature, humidity, curing time and the spray flow of metope to be conserved, does not need artificial
Maintenance processes are conserved and recorded, maintenance record accuracy and maintenance efficiency are improved.
The water tank assembly 2 that embodiments of the present invention Fig. 1 is related to shows water provided in an embodiment of the present invention referring to fig. 2
The structural schematic diagram of box assembly, the water tank assembly 2 include: water tank 20, high liquid level drainpipe 21, tank lid 22, water filling port 23,
Floating liquid level inductor 24, floating liquid level inductor 25, floating liquid level inductor 26 and water outlet 27.
The water tank 20 is set to the side at 1 top of mobile chassis, and the tank lid 22 and water filling port 23 are set respectively
It is placed in the top of the water tank 20, the water outlet 27 is set to the bottom of the water tank 20, the floating liquid level inductor 24,
Floating liquid level inductor 25 and floating liquid level inductor 26 are respectively arranged at the inside of the water tank 20, the high liquid level drainpipe
21 one end is connected to the water tank 20, and the other end of the high liquid level drainpipe 21 is set to outside 20 bottom of water tank.
In the concrete realization, the water tank 20 is set to the side at 1 top of mobile chassis, such as in a welding manner
The water tank 20 is set to the side at 1 top of mobile chassis.The water tank 20 is the equipment with water storage function, described
The capacity of water tank 20 is selected according to the actual situation by technical staff, such as: the capacity for selecting the water tank 20 is 200L, in this hair
The capacity of the water tank 20 is not specifically limited in bright embodiment.
Further, in the concrete realization, one end of the high liquid level drainpipe 21 is connected to the water tank 20, the height
The other end of liquid level drainpipe 21 stretches out outside 20 bottom of water tank, and the water for being higher by 21 upper port of high liquid level drainpipe is arranged
The water tank 20 out, such as: when adding aqueous level sensor to fail, the liquid level in water tank 20 can constantly increase, until flooding
The upper port of the high liquid level drainpipe 21, the water higher than the upper port of the high liquid level drainpipe 21 can be arranged from the high liquid level
Water pipe 21 is discharged.When the moisture that the water tank 20 need to be discharged or when need to clear up the water tank 20, can by it is described go out
The water of the water tank 20 or sewage are discharged at the mouth of a river 27.
In embodiments of the present invention, when spray robot carries out concrete wall surface maintenance work, pass through the water of water tank assembly
Case provides moisture supply for spray robot.It does not need that water pipe is first manually accessed to watering place, then man-hour manually hand-held water pipe carries out
Concrete wall surface maintenance improves maintenance efficiency.
The spray system assembly 3 that embodiments of the present invention Fig. 1 is related to shows offer of the embodiment of the present invention referring to Fig. 3
Spray system assembly 3 structural schematic diagram, the spray system assembly 3 includes: spray equipment 30, spraying device 31, nozzle
Mounting base 32, water pipe 33, spraying electromagnetic valve 34, spray solenoid valve 35, flowmeter 36 and water pump 37；
The nozzle mounting base 32 is set to the exterior lateral sides of the water tank assembly 2 and connects with one end of the water pipe 33
Logical, the spray equipment 30 and spraying device 31 are respectively arranged in the nozzle mounting base 32, and the water pump 37 is set to institute
It states the inside bottom of control system 5 and is connected to the other end of the water pipe 33, the spraying electromagnetic valve 34 and spray solenoid valve
35 connect with flowmeter 36 respectively, and the spraying electromagnetic valve 34, spray solenoid valve 35 and flowmeter 36 are respectively arranged at the water
On pipe 33.Wherein, the spray equipment 30 is the equipment with spray function, includes but are not limited to spray spout, the spray
Mist device 31 is the equipment with spraying function, includes but are not limited to spray nozzle.
In the concrete realization, the nozzle mounting base 32 is mounted on the outer side of the water tank 20 in a manner of bolt installation
Face, the nozzle mounting base 32 include at least a water inlet, and the water inlet is connected to one end of the water pipe 33.The spray
It is provided with spray spout and spray nozzle in mouth mounting base 32, can be sprayed or be sprayed, such as: the nozzle mounting base 32
4 spray spouts and 4 spray nozzles are set, and 4 spray spouts are rounded to be uniformly distributed in the nozzle mounting base 32 far
Side from 20 exterior lateral sides of water tank, 4 spray nozzles are rounded be uniformly distributed in it is close in the nozzle mounting base 32
The side of 20 exterior lateral sides of water tank, the spray angle of the spray spout are 90 degree, spray fine granularity moisture.The spray
The spray angle of atomizing nozzle is 90 degree, the moisture of water spray shape.It should be noted that the spray spout and spray nozzle
Number, spray angle and the distribution situation in the nozzle mounting base 32 include but are not limited to the above content, of the invention real
Example is applied to be not specifically limited.
In further realize, the water pump 37 is set to the inside bottom of the control cabinet 50 in such a way that bolt is installed
Portion, the flowmeter 36 are series at the water outlet of the water pump 37 by hard tube.The spraying electromagnetic valve 34, spray solenoid valve 35
It is connected respectively with flowmeter 36, the spraying electromagnetic valve 34, spray solenoid valve 35 and flowmeter 36 are set on the water pipe 33.
The water pipe 33 passes through the control cabinet 50 and is connected to the nozzle mounting base 32, is the spray in the nozzle mounting base 32
Device 30 and spraying device 31 supply water.
It is related to being mistake that spray equipment 30 and spraying device 31 supply water in the embodiment of the present invention more preferably to illustrate
Journey shows spray waterway structure schematic diagram provided in an embodiment of the present invention, comprising: water tank 20, filter, water pump referring to fig. 4
37, pressure sensor, solenoid valve, flowmeter 36, hose and spray head.
In described Fig. 4, using the water pump 37, withdrawing moisture, control solenoid valve pass through moisture from the water tank 20
Hose is transmitted to spray head.Wherein, the solenoid valve is spraying electromagnetic valve 34 or spray solenoid valve 35, and the spray head is the spray
Shower device 30 or spraying device 31.
In embodiments of the present invention, spray robot is during carrying out concrete wall surface maintenance, according to the actual situation
Selection spray by spraying conserves concrete wall surface, maintenance effect is improved, to guarantee the quality of concrete wall surface.
The temperature-humidity detecting device 4 that embodiments of the present invention Fig. 1 is related to shows the embodiment of the present invention and mentions referring to Fig. 5
The structural schematic diagram of the temperature-humidity detecting device of confession, the temperature-humidity detecting device 4 include: bracket 40, shell 41, temperature and humidity survey
Measure device 42 and rotating electric machine 43；
The bracket 40 is set to the outer top of the control system 5, and the shell 41 is connect with the bracket 41, described
Humiture measurement mechanism 42 is set in the shell 41, and the output shaft of the rotating electric machine 43 is connect with the bracket 40, institute
The ontology for stating rotating electric machine 43 is connect with the shell 41, and the rotating electric machine 43 rotates the shell 41.The temperature and humidity
Measuring device 42 is to include but are not limited to infrared temperature and humidity measuring instrument with the equipment of measurement temperature and humidity.
In the concrete realization, the bracket 40 is set to the outside top of the control cabinet 50 in a manner of bolt, described
Humiture measurement mechanism 42 is set on the shell 41 in the fixed form of screw, makes the humiture measurement mechanism 42 can be with
The shell 41 rotate.The rotating electric machine 43 rotates the shell 41, be directed at the humiture measurement mechanism 42 can
The smallpox metope of maintenance point where the spray robot, and the rotation shell 41 make to state the alignment of humiture measurement mechanism 42
The two sides metope of maintenance point where the spray robot.
In embodiments of the present invention, spray robot passes through temperature-humidity detecting device when carrying out concrete wall surface maintenance
Detect the temperature and humidity of metope to be conserved.Spray mode, water spray and spray time are selected according to the temperature and humidity of metope to be conserved.
It does not need manually to select water spray and spray time according to artificial experience, improves maintenance efficiency and maintenance quality.
The control system that embodiments of the present invention Fig. 1 is related to shows control provided in an embodiment of the present invention referring to Fig. 6
The structural schematic diagram of system processed, the control system 5 include: that inside bottom has the control cabinet 50 of battery sliding rail, controller electricity
Case 51, human-computer interaction device 52, control button group 53, device state indicator lamp 54 and battery 55；
The battery 55 is set on the battery sliding rail of the control cabinet 50, and the controller electronic box 51 is set to the electricity
55 top of pond, the human-computer interaction device 52, control button group 53 and device state indicator lamp 54 are respectively arranged at the control
The outer surface of case 50.
In the concrete realization, the battery 55 is set on the battery sliding rail of the control cabinet 50, can make the battery 55
It is moved on the battery sliding rail.The human-computer interaction device 52, control button group 53 and device state indicator lamp 54 are set respectively
It is placed at the inclined-plane that the outside of the control cabinet 50 shows.Technical staff can pass through the human-computer interaction on the control cabinet 50
54 pairs of device 52, control button group 53 and device state indicator lamp spray robots carry out corresponding operating.
In embodiments of the present invention, BIM map of the control system based on preset building to be conserved, control mobile chassis move
It moves to maintenance point, maintenance metope is treated according to the temperature and humidity of metope to be conserved control spray system assembly and is sprayed, and
Record the curing time, water spray and temperature and humidity of metope to be conserved.It does not need manually to be conserved and recorded maintenance processes, mention
High maintenance record accuracy and maintenance efficiency.
More preferably to illustrate the maintenance processes for spraying robot involved in the embodiments of the present invention, by Fig. 7 a and
The spray schematic diagram that robot is sprayed shown in Fig. 7 b is illustrated.
Fig. 7 a shows the side view of the spray process of spray robot, and Fig. 7 b shows spray robot
The top view of spray process.By the content in Fig. 7 a and Fig. 7 b it is found that the spray range of the spray robot can cover
Smallpox, ground and the two sides metope of the spray robot.
In conclusion the embodiment of the present invention provides a kind of spray robot, comprising: mobile chassis, water tank assembly, spray system
System assembly, temperature-humidity detecting device and control system；Water tank assembly and control system are arranged side by side at the top of mobile chassis；Spray
System synthesis is connected to mobile chassis, water tank assembly and control system respectively, is set to the one of water tank assembly relation control system
Side；Temperature-humidity detecting device is set to the top of control system, detects the temperature and humidity of metope to be conserved；Control system is based on
The BIM map of preset building to be conserved, control mobile chassis is moved to maintenance point, according to the temperature and humidity of metope to be conserved
Control spray system assembly is treated maintenance metope and is sprayed, and records the curing time, water spray and temperature of metope to be conserved
Humidity.In the present invention, according to the BIM map of building to be conserved, being successively moved to maintenance point is metope to be conserved for spray robot
It is sprayed, records maintenance processes, do not need manually to be conserved and recorded maintenance processes, improved maintenance record accuracy and support
Protect efficiency.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.System and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of spray robot, which is characterized in that the spray robot includes: mobile chassis (1), water tank assembly (2), spray
Drench system synthesis (3), temperature-humidity detecting device (4) and control system (5)；
The water tank assembly (2) and the control system (5) are arranged side by side in the top of the mobile chassis (1)；
The spray system assembly (3) is connected to the mobile chassis (1), water tank assembly (2) and control system (5) respectively, if
It is placed in the side of the relatively described control system (5) of the water tank assembly (2)；
The temperature-humidity detecting device (4) is set to the top of the control system (5), detects the temperature of metope to be conserved and wet
Degree；
It is mobile to control the mobile chassis (1) for the BIM map based on preset building to be conserved for the control system (5)
To maintenance point, the temperature and humidity of metope to be conserved is detected using the temperature-humidity detecting device (4), according to the wall to be conserved
The temperature and humidity in face controls the spray system assembly (3) and sprays to the metope to be conserved, and records described wait support
Curing time, water spray and the temperature and humidity in revetment face, wherein the BIM map marks the every of the building to be conserved in advance
One metope to be conserved.
2. spray robot according to claim 1, which is characterized in that the mobile chassis (1) includes: mobile chassis shell
Body, 4 universal wheels, 2 driving wheels, driving decelerating motor and obstacle avoidance sensor；
4 universal wheels are respectively arranged at the corner of bottom 4 of the mobile chassis shell, and 2 driving wheels are set side by side
It is placed among the bottom of the mobile chassis shell, the driving decelerating motor and obstacle avoidance sensor are set to the mobile chassis
In shell.
3. spray robot according to claim 1, which is characterized in that the water tank assembly (2) include: water tank (20),
High liquid level drainpipe (21), tank lid (22), water filling port (23), floating liquid level inductor (24), floating liquid level inductor (25),
Floating liquid level inductor (26) and water outlet (27)；
The water tank (20) is set to the side at the top of the mobile chassis (1), the tank lid (22) and water filling port (23) point
It is not set to the top of the water tank (20), the water outlet (27) is set to the bottom of the water tank (20), the buoy liquid
Position inductor (24), floating liquid level inductor (25) and floating liquid level inductor (26) are respectively arranged at the interior of the water tank (20)
The one end in portion, the high liquid level drainpipe (21) is connected to the water tank (20), the other end of the high liquid level drainpipe (21)
It is set to outside the water tank (20) bottom.
4. spray robot according to claim 1, which is characterized in that the spray system assembly (3) includes: spray dress
Set (30), spraying device (31), nozzle mounting base (32), water pipe (33), spraying electromagnetic valve (34), spray solenoid valve (35), stream
Meter (36) and water pump (37)；
The nozzle mounting base (32) is set to the exterior lateral sides of the water tank assembly (2) and connects with one end of the water pipe (33)
Logical, the spray equipment (30) and spraying device (31) are respectively arranged on the nozzle mounting base (32), the water pump (37)
It is set to the inside bottom of the control system (5) and is connected to the other end of the water pipe (33), the spraying electromagnetic valve
(34) connect respectively with flowmeter (36) with spray solenoid valve (35), the spraying electromagnetic valve (34), spray solenoid valve (35) and
Flowmeter (36) is respectively arranged on the water pipe (33).
5. spray robot according to claim 1, which is characterized in that the temperature-humidity detecting device (4) includes: bracket
(40), shell (41), humiture measurement mechanism (42) and rotating electric machine (43)；
The bracket (40) is set to the outside top of the control system (5), and the shell (41) and the bracket (41) are even
Connect, the humiture measurement mechanism (42) is set in the shell (41), the output shaft of the rotating electric machine (43) with it is described
Bracket (40) connection, the ontology of the rotating electric machine (43) are connect with the shell (41), and the rotating electric machine (43) makes described
Shell (41) rotation.
6. spray robot according to claim 1, which is characterized in that the control system (5) includes: inside bottom tool
There are the control cabinet (50), controller electronic box (51), human-computer interaction device (52), control button group (53), equipment shape of battery sliding rail
State indicator light (54) and battery (55)；
The battery (55) is set on the battery sliding rail of the control cabinet (50), and the controller electronic box (51) is set to described
At the top of battery (55), the human-computer interaction device (52), control button group (53) and device state indicator lamp (54) are respectively set
Outer surface in the control cabinet (50).
7. spray robot according to claim 5, which is characterized in that the humiture measurement mechanism (42) are as follows: infrared
Temperature and humidity measuring instrument.
8. spray robot according to claim 4, which is characterized in that the spray equipment (30) includes: 4 rounded
The spray spout being uniformly distributed on the nozzle mounting base (32).
9. spray robot according to claim 4, which is characterized in that spraying device (31) includes: 4 rounded uniform
The spray nozzle being distributed on the nozzle mounting base (32).
10. spray robot according to claim 4, which is characterized in that the nozzle mounting base (32) includes at least one
A water inlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910689073.9A CN110374345A (en) | 2019-07-29 | 2019-07-29 | A kind of spray robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910689073.9A CN110374345A (en) | 2019-07-29 | 2019-07-29 | A kind of spray robot |
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| CN110374345A true CN110374345A (en) | 2019-10-25 |
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| CN201910689073.9A Pending CN110374345A (en) | 2019-07-29 | 2019-07-29 | A kind of spray robot |
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| CN (1) | CN110374345A (en) |
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| CN111472563A (en) * | 2020-05-29 | 2020-07-31 | 中铁隧道局集团有限公司 | Intelligent concrete curing machine |
| CN113561301A (en) * | 2021-06-24 | 2021-10-29 | 北京路鹏达建设发展有限责任公司 | Intelligent spraying maintenance system and method for concrete vertical structure |
| CN113638613A (en) * | 2021-08-20 | 2021-11-12 | 上海建工集团股份有限公司 | Intelligent maintenance system and method for mass concrete of foundation slab |
| CN113653348A (en) * | 2020-06-28 | 2021-11-16 | 安徽中轴线建筑工业化科技有限公司 | Wall body sprays maintenance of equipment for building engineering |
| CN113695110A (en) * | 2021-08-20 | 2021-11-26 | 上海建工集团股份有限公司 | Three-dimensional automatic positioning concrete intelligent maintenance system and method |
| CN116041089A (en) * | 2022-12-16 | 2023-05-02 | 中建中新建设工程有限公司 | Intelligent robot for concrete curing and curing method |
| CN116214689A (en) * | 2022-12-15 | 2023-06-06 | 中电建路桥集团有限公司 | Intelligent monitoring system and method for precast beam piece maintenance based on different time effects |
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| CN113653348A (en) * | 2020-06-28 | 2021-11-16 | 安徽中轴线建筑工业化科技有限公司 | Wall body sprays maintenance of equipment for building engineering |
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| CN113638613A (en) * | 2021-08-20 | 2021-11-12 | 上海建工集团股份有限公司 | Intelligent maintenance system and method for mass concrete of foundation slab |
| CN113695110A (en) * | 2021-08-20 | 2021-11-26 | 上海建工集团股份有限公司 | Three-dimensional automatic positioning concrete intelligent maintenance system and method |
| CN113695110B (en) * | 2021-08-20 | 2022-12-06 | 上海建工集团股份有限公司 | Three-dimensional automatic positioning concrete intelligent maintenance system and method |
| CN116214689A (en) * | 2022-12-15 | 2023-06-06 | 中电建路桥集团有限公司 | Intelligent monitoring system and method for precast beam piece maintenance based on different time effects |
| CN116214689B (en) * | 2022-12-15 | 2023-12-08 | 中电建路桥集团有限公司 | Intelligent monitoring system and method for precast beam piece maintenance based on different time effects |
| CN116041089A (en) * | 2022-12-16 | 2023-05-02 | 中建中新建设工程有限公司 | Intelligent robot for concrete curing and curing method |
| CN116041089B (en) * | 2022-12-16 | 2024-04-02 | 中建中新建设工程有限公司 | Intelligent robot for concrete curing and curing method |
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